How to animate object with data file
I am not aware of a direct csv importer. But of course you could write a python script for your special case. If your csv contains just object locations on a timeline, then it would be rather easy:

then you would iterate over the timeline something like this:

import bpy
context = bpy.context
obj     = context.object
scene   = context.scene

start   = scene.frame_start
end     = scene.frame_end

for frame in range(start, end+1):

    # Set object location to whatever you get from the cvs
    # here i just move the object along the x axis:
    obj.location.x=frame
    obj.keyframe_insert("location",frame=frame)


This is not a very efficient way to do an animation. The above example would be done much more efficient by just adding 2 keyframes (one at the start and one at the end) and let blender calculate the movement in between. 

Also you might want to create the animation curves (fcurves) directly instead of keyframing every timeframe. But it really depends on what your csv data contains.

However, maybe the above script can help to start your journey :)